{"id":"https://openalex.org/W7124151840","doi":"https://doi.org/10.48550/arxiv.2601.08514","title":"Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation","display_name":"Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation","publication_year":2026,"publication_date":"2026-01-13","ids":{"openalex":"https://openalex.org/W7124151840","doi":"https://doi.org/10.48550/arxiv.2601.08514"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2601.08514","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.08514","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2601.08514","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122993260","display_name":"Davide Risi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Risi, Davide","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010287333","display_name":"Vincenzo Petrone","orcid":"https://orcid.org/0000-0003-4777-1761"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Petrone, Vincenzo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122992092","display_name":"Antonio Langella","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Langella, Antonio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092556576","display_name":"Lorenzo Pagliara","orcid":"https://orcid.org/0000-0001-8283-0320"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pagliara, Lorenzo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012694169","display_name":"Enrico Ferrentino","orcid":"https://orcid.org/0000-0003-0768-8541"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferrentino, Enrico","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5123009954","display_name":"Pasquale Chiacchio","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chiacchio, Pasquale","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.41929998993873596,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.41929998993873596,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.21119999885559082,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.05530000105500221,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6212000250816345},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4887999892234802},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.4564000070095062},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4465000033378601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43470001220703125},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4027999937534332},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.39649999141693115},{"id":"https://openalex.org/keywords/chaining","display_name":"Chaining","score":0.37779998779296875}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6212000250816345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6080999970436096},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4887999892234802},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4767000079154968},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4465000033378601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4027999937534332},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.39649999141693115},{"id":"https://openalex.org/C49020025","wikidata":"https://www.wikidata.org/wiki/Q1059099","display_name":"Chaining","level":2,"score":0.37779998779296875},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.37599998712539673},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3546000123023987},{"id":"https://openalex.org/C2778583558","wikidata":"https://www.wikidata.org/wiki/Q771245","display_name":"Code reuse","level":3,"score":0.3411000072956085},{"id":"https://openalex.org/C137981799","wikidata":"https://www.wikidata.org/wiki/Q1369184","display_name":"Reusability","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.301800012588501},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27649998664855957},{"id":"https://openalex.org/C17137986","wikidata":"https://www.wikidata.org/wiki/Q215067","display_name":"Orthogonality","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2685999870300293},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C133162039","wikidata":"https://www.wikidata.org/wiki/Q1061077","display_name":"Code generation","level":3,"score":0.2517000138759613},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2601.08514","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.08514","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2601.08514","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.08514","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,71],"paper":[1],"introduces":[2],"a":[3,30,102],"novel":[4],"modular":[5],"architecture":[6],"for":[7,91,97],"ROS2":[8],"that":[9,24,36,132],"decouples":[10],"the":[11,21,40,58,63,118,154],"logic":[12],"required":[13],"to":[14,68,152],"acquire,":[15],"validate,":[16],"and":[17,53,79,95,113,116,122,126,156,162],"interpolate":[18],"references":[19,56,94,134],"from":[20,48,77],"control":[22,170],"laws":[23],"track":[25],"them.":[26],"The":[27],"design":[28],"includes":[29],"dedicated":[31],"component,":[32],"named":[33],"Reference":[34],"Generator,":[35],"receives":[37],"references,":[38,99],"in":[39,138],"form":[41],"of":[42,104,158],"either":[43],"single":[44],"points":[45],"or":[46],"trajectories,":[47],"external":[49],"nodes":[50],"(e.g.,":[51],"planners),":[52],"writes":[54],"single-point":[55],"at":[57],"controller's":[59],"sampling":[60],"period":[61],"via":[62],"existing":[64],"ros2_control":[65],"chaining":[66],"mechanism":[67],"downstream":[69],"controllers.":[70],"separation":[72],"removes":[73],"duplicated":[74,146],"reference-handling":[75,147],"code":[76,148],"controllers":[78,106,151],"improves":[80],"reusability":[81],"across":[82,149],"robot":[83],"platforms.":[84],"We":[85],"implement":[86],"two":[87],"reference":[88,143],"generators:":[89],"one":[90,96],"handling":[92],"joint-space":[93],"Cartesian":[98,111],"along":[100],"with":[101,108],"set":[103],"new":[105],"(PD":[107],"gravity":[109],"compensation,":[110],"pose,":[112],"admittance":[114],"controllers)":[115],"validate":[117],"approach":[119],"on":[120,169],"simulated":[121],"real":[123],"Universal":[124],"Robots":[125],"Franka":[127],"Emika":[128],"manipulators.":[129],"Results":[130],"show":[131],"(i)":[133],"are":[135],"tracked":[136],"reliably":[137],"all":[139],"tested":[140],"scenarios,":[141],"(ii)":[142],"generators":[144],"reduce":[145],"chained":[150],"favor":[153],"construction":[155],"reuse":[157],"complex":[159],"controller":[160,164],"pipelines,":[161],"(iii)":[163],"implementations":[165],"remain":[166],"focused":[167],"only":[168],"laws.":[171]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-01-15T00:00:00"}
